A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions

Siddharth Karamcheti, Edward Clem Williams, Dilip Arumugam, Mina Rhee, Nakul Gopalan, Lawson L.S. Wong, Stefanie Tellex


Abstract
Robots operating alongside humans in diverse, stochastic environments must be able to accurately interpret natural language commands. These instructions often fall into one of two categories: those that specify a goal condition or target state, and those that specify explicit actions, or how to perform a given task. Recent approaches have used reward functions as a semantic representation of goal-based commands, which allows for the use of a state-of-the-art planner to find a policy for the given task. However, these reward functions cannot be directly used to represent action-oriented commands. We introduce a new hybrid approach, the Deep Recurrent Action-Goal Grounding Network (DRAGGN), for task grounding and execution that handles natural language from either category as input, and generalizes to unseen environments. Our robot-simulation results demonstrate that a system successfully interpreting both goal-oriented and action-oriented task specifications brings us closer to robust natural language understanding for human-robot interaction.
Anthology ID:
W17-2809
Volume:
Proceedings of the First Workshop on Language Grounding for Robotics
Month:
August
Year:
2017
Address:
Vancouver, Canada
Venues:
RoboNLP | WS
SIG:
Publisher:
Association for Computational Linguistics
Note:
Pages:
67–75
Language:
URL:
https://aclanthology.org/W17-2809
DOI:
10.18653/v1/W17-2809
Bibkey:
Cite (ACL):
Siddharth Karamcheti, Edward Clem Williams, Dilip Arumugam, Mina Rhee, Nakul Gopalan, Lawson L.S. Wong, and Stefanie Tellex. 2017. A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions. In Proceedings of the First Workshop on Language Grounding for Robotics, pages 67–75, Vancouver, Canada. Association for Computational Linguistics.
Cite (Informal):
A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions (Karamcheti et al., 2017)
Copy Citation:
PDF:
https://aclanthology.org/W17-2809.pdf
Code
 siddk/glamdp